Desktop teleoperation via the World Wide Web

Author

Goldberg, Ken ; Mascha, Michael ; Gentner, Steve ; Rothenberg, Nick ; Sutter, Carl ; Wiegley, Jeff

Author_Institution

Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

654

Abstract

We built a system that allows a robot manipulator to be teleoperated via the WWW. Although the field of teleoperation dates back over 50 years, the WWW provides a low-cost and widely-available interface that can make teleoperated resources accessible to anyone with a desktop or laptop computer and modem. The “Mercury Project” consists of an industrial robot arm fitted with a CCD camera and a pneumatic system. We placed a sandbox filled with buried artifacts in the robot workspace. Using the ISMAP feature of HTTP, users can remotely move the camera to view desired locations or direct a short burst of compressed air into the sand to view the newly cleared region. To our knowledge, the Mercury Project is the first system to permit WWW users to remotely view and alter the real world. This paper focuses on interface design, robot hardware, and system architecture

Keywords

Internet; manipulators; telerobotics; CCD camera; HTTP; ISMAP feature; Mercury Project; WWW; World Wide Web; buried artifacts; desktop computer; desktop teleoperation; industrial robot arm; interface design; laptop computer; modem; pneumatic system; robot hardware; robot manipulator; sandbox; system architecture; teleoperation; Cameras; Charge coupled devices; Computer interfaces; Manipulators; Modems; Portable computers; Robot vision systems; Service robots; Web sites; World Wide Web;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525358

Filename

525358